CN207888642U - One kind is write mechanical arm - Google Patents
One kind is write mechanical arm Download PDFInfo
- Publication number
- CN207888642U CN207888642U CN201820318850.XU CN201820318850U CN207888642U CN 207888642 U CN207888642 U CN 207888642U CN 201820318850 U CN201820318850 U CN 201820318850U CN 207888642 U CN207888642 U CN 207888642U
- Authority
- CN
- China
- Prior art keywords
- stepper motor
- turntable
- mounting base
- hinged
- rotation angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Moving Of The Head To Find And Align With The Track (AREA)
Abstract
It is disclosed by the utility model to belong to robot device's technical field, specially one kind is write mechanical arm, including pedestal, the pedestal upper end is concentric to be rotatably connected to mounting base, and the mounting base is U-shaped structure, and mounting base lower face is fixed with the first stepper motor and the second stepper motor, writing pencil is mounted in sleeve by user of service first, further, the second stepper motor rotation angle is controlled by controller, and then controls the rotation angle of principal arm；Third stepper motor rotation angle is controlled by controller, and then controls the rotation angle of auxiliary；The first stepper motor rotation angle is controlled by controller, and then control the rotation angle of mounting base, triplicity realizes that writing pencil can be run to any point in plane or space, these points can be connected by the specific program in controller, writing function can be realized, improve the working efficiency of staff.
Description
Technical field
Disclosed by the utility model to belong to robot device's technical field, specially one kind is write mechanical arm.
Background technology
Human simulation Writing robot is to be applied quite extensively in current daily learning areas, but had no similar set at present
Standby alternative human simulation Writing robot, leads in relevant industries that staff's labour degree is big, and working efficiency is low.For this purpose, I
Propose one kind mechanical arm that writes and come into operation, to solve the above problems.
Utility model content
It writes mechanical arm the purpose of this utility model is to provide one kind, to solve emulation mentioned above in the background art
People's Writing robot is to be applied quite extensively in current daily learning areas, but had no the alternative emulation of same category of device at present
People's Writing robot causes staff's labour degree in relevant industries big, ineffective problem.
To achieve the above object, the utility model provides the following technical solutions：One kind is write mechanical arm, including pedestal, institute
State that pedestal upper end is concentric to be rotatably connected to mounting base, the mounting base is U-shaped structure, and mounting base lower face is fixed with first
Stepper motor and the second stepper motor, first stepper motor and the second stepper motor are arranged in a crossed manner in " ten " font, described
The opposite two side arms in mounting base top are separately installed with the first turntable and the second turntable, first turntable and the second turntable difference
It is rotatablely connected with mounting base, and the first turntable is radially secure is connected with principal arm, second turntable is radially secure to be connected with
The top of auxiliary, the principal arm and auxiliary is hinged with a triangle connector, and has been respectively articulated with first on triangle connector
Connecting rod and the second connecting rod, described head rod the other end are hinged on mounting base side wall surface, second connection
Bar the other end is hinged with rectangle connector, and one surface of rectangle connector is equipped with sleeve, and another table of rectangle connector
Face is hinged with third connecting rod, and the third connection boom end and auxiliary are hinged, and one end far from auxiliary in third connecting rod
It is hinged with principal arm.
Preferably, the pedestal, the first turntable and the second turntable side are integrally formed with cyclic annular rack.
Preferably, the mounting base right lateral surface is fixed with third stepper motor, on the third step motor position with
Second stepper motor is opposite.
Preferably, first stepper motor engages connection, the second step by belt with the cyclic annular rack on pedestal
Stepper motor engages connection with the cyclic annular rack on the first turntable by belt, and the third stepper motor passes through belt and second turn
Cyclic annular rack engagement connection on disk.
Compared with prior art, the utility model has the beneficial effects that：Writing pencil is mounted on sleeve by user of service first
It is interior, further, the second stepper motor rotation angle is controlled by controller, and then control the rotation angle of principal arm；Pass through control
Device processed controls third stepper motor rotation angle, and then controls the rotation angle of auxiliary；The first stepping electricity is controlled by controller
Machine rotation angle, and then the rotation angle of mounting base is controlled, triplicity realizes that writing pencil can be run to plane or space
Interior any point can be connected these points by the specific program in controller, you can realize writing function, improve
The working efficiency of staff.
Description of the drawings
FIG. 1 is a schematic structural view of the utility model；
Fig. 2 is the utility model mounting base front view.
In figure：1 pedestal, 2 mounting bases, 21 third stepper motors, 3 first stepper motors, 4 second stepper motors, 5 first turns
Disk, 6 second turntables, 7 principal arms, 8 auxiliarys, 9 triangle connectors, 10 head rods, 11 second connecting rods, the connection of 12 rectangles
Part, 121 sleeves, 13 third connecting rods, 14 cyclic annular racks.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
- 2 are please referred to Fig.1, the utility model provides a kind of technical solution：One kind is write mechanical arm, including pedestal 1, described
1 upper end of pedestal is concentric to be rotatably connected to mounting base 2, and the mounting base 2 is U-shaped structure, and 2 lower face of mounting base is fixed with the
One stepper motor 3 and the second stepper motor 4, first stepper motor, 3 and second stepper motor 4 are set in " ten " font intersection
It sets, the opposite two side arms in 2 top of the mounting base are separately installed with the first turntable 5 and the second turntable 6,5 He of the first turntable
Second turntable 6 is rotatablely connected with mounting base 2 respectively, and the first turntable 5 is radially secure is connected with principal arm 7, second turntable 6
Radially secure to be connected with auxiliary 8, the principal arm 7 and the top of auxiliary 8 and a triangle connector 9 are hinged, and triangle connects
Head rod 10 and the second connecting rod 11 are respectively articulated on fitting 9,10 the other end of the head rod is hinged on peace
2 side wall surface of seat is filled, described second connecting rod, 11 the other end is hinged with rectangle connector 12, the rectangle connector 12 1
Surface is equipped with sleeve 121, and 12 another surface of rectangle connector is hinged with third connecting rod 13,13 end of third connecting rod
Portion is hinged with auxiliary 8, and one end far from auxiliary 8 in third connecting rod 13 and principal arm 7 are hinged.
Wherein, the pedestal 1, the first turntable 5 and 6 side of the second turntable are integrally formed with cyclic annular rack 14.The peace
Dress 2 right lateral surface of seat is fixed with third stepper motor 21, on 21 position of third stepper motor with 4 phase of the second stepper motor
It is right.First stepper motor 3 engages connection with the cyclic annular rack 14 on pedestal 1 by belt, and second stepper motor 4 is logical
It crosses belt and engages connection on the first turntable 5 cyclic annular rack 14, the third stepper motor 21 passes through belt and the second turntable 6
On cyclic annular rack 14 engagement connection.
Operation principle：The utility model is driven using four rod structure of plane, is realized using parallelogram four-bar linkage structure
Mechanical end is vertical with paper holding.The principle being mutually parallel using two opposite side of parallel four side row can be designed a kind of fixes on one side
And another side keeps the translation mechanical mechanism of certain angle, the design to use the additional isosceles triangle of two parallel four side rows
As the mechanical structure of corner, the short side of two parallel four side rows is respectively fixed on two short sides of triangle, with triangle phase
The opposite side of a line connect is principal arm 7 fixed to horizontal plane, and another is auxiliary 8, at this time 7 end of principal arm and 8 end of auxiliary
Angle between angled i.e. triangle short side, adds a corner triangle or four side rows to achieve that machine in 8 end of auxiliary
Tool arm end is parallel with horizontal plane.Writing pencil is mounted in sleeve 121 by user of service first, further, passes through controller
4 rotation angle of the second stepper motor is controlled, and then controls the rotation angle of principal arm 7；Third stepper motor is controlled by controller
21 rotation angles, and then control the rotation angle of auxiliary 8；3 rotation angle of the first stepper motor is controlled by controller, and then is controlled
The rotation angle of mounting base 2 processed.Triplicity realizes that writing pencil can be run to any point in plane or space, passes through
Specific program in controller can connect these points, you can realize writing function, improve the work effect of staff
Rate.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is appreciated that can these embodiments be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaiied
Change, replace and modification, the scope of the utility model are defined by the appended claims and the equivalents thereof.
Claims (4)
- The mechanical arm 1. one kind is write, including pedestal (1), it is characterised in that：Pedestal (1) upper end is concentric to be rotatably connected to peace Seat (2) is filled, the mounting base (2) is U-shaped structure, and mounting base (2) lower face is fixed with the first stepper motor (3) and second step Stepper motor (4), first stepper motor (3) and the second stepper motor (4) are arranged in a crossed manner in " ten " font, the mounting base (2) the opposite two side arms in top are separately installed with the first turntable (5) and the second turntable (6), first turntable (5) and second turn Disk (6) is rotatablely connected with mounting base (2) respectively, and the first turntable (5) is radially secure is connected with principal arm (7), described second turn Disk (6) is radially secure to be connected with auxiliary (8), and the principal arm (7) and the top of auxiliary (8) are cut with scissors with a triangle connector (9) It connects, and has been respectively articulated with head rod (10) and the second connecting rod (11), the head rod on triangle connector (9) (10) the other end is hinged on mounting base (2) side wall surface, and described second connecting rod (11) the other end is hinged with rectangle company Fitting (12), (12) one surface of the rectangle connector is equipped with sleeve (121), and rectangle connector (12) another surface is hinged There is third connecting rod (13), third connecting rod (13) end is hinged with auxiliary (8), and far from secondary in third connecting rod (13) One end of arm (8) is hinged with principal arm (7).
- The mechanical arm 2. one kind according to claim 1 is write, it is characterised in that：The pedestal (1), the first turntable (5) and Second turntable (6) side is integrally formed with cyclic annular rack (14).
- The mechanical arm 3. one kind according to claim 1 is write, it is characterised in that：Mounting base (2) right lateral surface is fixed There is a third stepper motor (21), it is opposite with the second stepper motor (4) on third stepper motor (21) position.
- The mechanical arm 4. one kind according to claim 1 is write, it is characterised in that：First stepper motor (3) passes through skin Band engages connection with the cyclic annular rack (14) on pedestal (1), and second stepper motor (4) passes through belt and the first turntable (5) On cyclic annular rack (14) engagement connection, the third stepper motor (21) passes through the ring tooth on belt and the second turntable (6) Item (14) engagement connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820318850.XU CN207888642U (en) | 2018-03-08 | 2018-03-08 | One kind is write mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820318850.XU CN207888642U (en) | 2018-03-08 | 2018-03-08 | One kind is write mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207888642U true CN207888642U (en) | 2018-09-21 |
Family
ID=63542102
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820318850.XU Expired - Fee Related CN207888642U (en) | 2018-03-08 | 2018-03-08 | One kind is write mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207888642U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114454186A (en) * | 2022-01-15 | 2022-05-10 | 西安电子科技大学 | High-load multi-joint robot and control method thereof |
-
2018
- 2018-03-08 CN CN201820318850.XU patent/CN207888642U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114454186A (en) * | 2022-01-15 | 2022-05-10 | 西安电子科技大学 | High-load multi-joint robot and control method thereof |
| CN114454186B (en) * | 2022-01-15 | 2024-03-15 | 西安电子科技大学 | High-load multi-joint robot and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102697288B (en) | Multifunctional desk | |
| CN207888642U (en) | One kind is write mechanical arm | |
| CN207747068U (en) | A kind of calligraphy robotic gripper change-fountain pen mechanism | |
| CN209284469U (en) | A kind of fixed library's auto-folder exclusive table | |
| CN106388277A (en) | Office table capable of increasing computer operating comfortability | |
| CN210876926U (en) | Overturning and bending jig | |
| CN210493264U (en) | Engineering cost apparatus frame | |
| CN205090247U (en) | Multi -functional folding LED energy -saving table lamp | |
| CN210055101U (en) | Can carry out spacing correction study table to arm | |
| CN214803265U (en) | Computer programming testing arrangement | |
| CN107350991A (en) | A kind of multifunctional movable frock clamp | |
| CN208214900U (en) | A kind of material frame air cylinder fixed plate | |
| CN219020518U (en) | Portable multifunctional drawing table | |
| CN214671370U (en) | Communication engineering's singlechip principle display device | |
| CN208365118U (en) | A kind of mechanically actuated platform lifting device | |
| CN208189104U (en) | A kind of multi-faceted instruction device of construction | |
| CN216731099U (en) | Grinding device for manufacturing aircraft simulator | |
| CN112890425B (en) | Computer platform for developing computer technology | |
| CN216854865U (en) | Operating room nursing tray | |
| CN220506311U (en) | Recovery type lifting keyboard | |
| CN217827126U (en) | Office table convenient to adjust hand rest height | |
| CN208011220U (en) | A kind of extensible meeting room display/panel bracket | |
| CN212320971U (en) | Building engineering scaffold frame bottom bears pressure measurement experimental apparatus | |
| CN205001798U (en) | A display device strutting arrangement for seat | |
| CN208644916U (en) | A kind of rocker of spring grinding machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180921 Termination date: 20190308 |